class setRobot:
def __init__(self):
self.rob = Robot()
self.whole_body = self.rob.get('whole_body')
self.omni_base = self.rob.get('omni_base')
self.gripper = self.rob.get('gripper')
# collision_world = self.rob.try_get('global_collision_world')
# self.whole_body.collision_world = collision_world
self.whole_body.end_effector_frame = u'hand_palm_link'
class SetRobot:
def __init__(self):
print("Getting robot infos")
self.rob = Robot()
try:
self.whole_body = self.rob.get('whole_body')
self.omni_base = self.rob.get('omni_base')
self.gripper = self.rob.get('gripper')
self.whole_body.end_effector_frame = u'hand_palm_link'
print("Infos received")
except Exception as e:
print("Fail")
class setRobot:
def __init__(self):
s = rospy.Service('grab_the_bag', Grabbag, go_to)
self.rob = Robot()
self.whole_body = self.rob.get('whole_body')
self.omni_base = self.rob.get('omni_base')
self.gripper = self.rob.get('gripper')
# collision_world = self.rob.try_get('global_collision_world')
# self.whole_body.collision_world = collision_world
self.whole_body.end_effector_frame = u'hand_palm_link'
rospy.spin()
import matplotlib
matplotlib.use('Agg')
from matplotlib import pyplot as plt
import RunAve_fil
#import fuzzy
from std_msgs.msg import Bool
from hsr_handing.msg import grasp_key
from hsr_handing.srv import fuzzy
from hsr_handing.msg import pose_info
from hsrb_interface import geometry
from hsrb_interface import Robot
robot = Robot()
omni_base = robot.try_get('omni_base')
whole_body = robot.try_get('whole_body')
gripper = robot.get('gripper')
_CONNECTION_TIMEOUT = 10.0
# Move timeout[s]
_MOVE_TIMEOUT = 60.0
# Grasp force[N]
_GRASP_FORCE = 0.2
# TF name of the bottle
_BOTTLE_TF = 'ar_marker/150'
# TF name of the gripper
_HAND_TF = 'hand_palm_link'
# Posture that 0.04[m] front and rotate -1.57 around z-axis of the bottle maker
bottle_to_hand = geometry.pose(z=-0.04, ek=-1.57)
# Posture to move the hand 0.02[m] up
hand_up = geometry.pose(x=0.02)